基于POE和CSSA的冗余机械臂逆运动学求解方法

Inverse Kinematics Solution Method of Redundant Manipulator Based on POE and CSSA

为提高7自由度冗余机械臂逆运动学求解精度,提出一种基于旋量指数积和混沌麻雀搜索算法的逆运动学求解方法。对一种7自由度仿人机械手臂建模,采用旋量指数积公式法建立机械臂正运动学方程并在MATLAB中进行验证。根据机械臂位置矢量和接近矢量构建适应度函数,利用混沌麻雀搜索算法求解冗余机械臂的逆解。在MATLAB软件中编写逆解算法程序,将求得的关节值代入所建立的正运动学模型,计算冗余机械臂末端期望位姿与实际位姿的误差。

In order to improve the solution accuracy of the inverse kinematics of the 7-DOF redundant manipulator,an inverse kinematics solution method based on the exponential product of the screw and the chaotic sparrow search algorithm is proposed.A 7-DOF humanoid manipulator is modeled,and the forward kinematics equation of the manipulator is established by the formula kmethod of screw-exponential product,which is verified in MATLAB.The fitness function is constructed according to the position vector and proximity vector of the manipulator,and the inverse solution of the redundant manipulator is solved by the chaotic sparrow search algorithm.The inverse solution algorithm program is written in MATLAB software,the obtained joint values is substituted into the established forward kinematics model,and the error between the expected pose and the actual pose of the redundant manipulator end is calculated.